US11465292B2 - Modular movable robot - Google Patents

Modular movable robot Download PDF

Info

Publication number
US11465292B2
US11465292B2 US16/641,087 US201916641087A US11465292B2 US 11465292 B2 US11465292 B2 US 11465292B2 US 201916641087 A US201916641087 A US 201916641087A US 11465292 B2 US11465292 B2 US 11465292B2
Authority
US
United States
Prior art keywords
module
main body
display
user
robot according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US16/641,087
Other versions
US20200254623A1 (en
Inventor
Yousook Eun
Jinsu Kim
Taewoo Yoo
Soonho Jung
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Assigned to LG ELECTRONICS INC. reassignment LG ELECTRONICS INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Eun, Yousook, Jung, Soonho, KIM, Jinsu, YOO, TAEWOO
Publication of US20200254623A1 publication Critical patent/US20200254623A1/en
Application granted granted Critical
Publication of US11465292B2 publication Critical patent/US11465292B2/en
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • G06F21/31—User authentication
    • G06F21/34—User authentication involving the use of external additional devices, e.g. dongles or smart cards
    • G06F21/35—User authentication involving the use of external additional devices, e.g. dongles or smart cards communicating wirelessly
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
    • G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1413—1D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
    • G06K7/1404—Methods for optical code recognition
    • G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
    • G06K7/1417—2D bar codes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means

Definitions

  • the present disclosure relates to a modular movable robot that is capable of providing various services and realizing automatic driving.
  • Robots have been developed for industrial use in order to be part of factory automation. In recent years, fields of application of the robots have been expanded, and thus, robots that are used in everyday life as well as medical robots and aerospace robots are being developed.
  • Such a robot for the daily life provides specific services (e.g., shopping, serving, talking, cleaning, etc.) in response to a user's command.
  • specific services e.g., shopping, serving, talking, cleaning, etc.
  • Embodiments provide a modular movable robot that is capable of providing various services.
  • Embodiments also provide a modular movable robot to realize automatic driving.
  • a modular movable robot may include a module coupling plate detecting a module coupled to a top surface thereof and a control unit controlling at least one of the body display unit or the head display unit on the basis of information with respect to the detected module, which is received from the module coupling plate to provide various services.
  • a modular movable robot in another embodiment, includes a distance sensor mounted between a module coupling plate and a main body to detect an obstacle disposed outside the main body, a driving sensor mounted on a lower end of the main body so that the main body is movable, and a control unit controlling driving of the driving unit on the basis of information with respect to a detected obstacle, which is received from the distance sensor to realize automatic driving.
  • the modular movable robot according to the embodiment may provide the various services according to the module to be combined and thus may improve the utilization of the existing robot for the daily life. Also, the modular movable robot according to the embodiment may provide the various services by only changing the modules to be coupled to reduce the number of robots required for enjoying the various services. Therefore, the production cost may be reduced, the space utilization may be improved.
  • the modular movable robot may be automatically driven to expand the application fields and improve the service quality. Also, it may be unnecessary to directly move the robot so as to provide the service at a specific position or place, thereby improving the usability.
  • FIG. 1 is a perspective view for explaining a modular movable robot according to an embodiment.
  • FIG. 2 is a front view of the modular movable robot of FIG. 1 .
  • FIG. 3 is a side view of the modular movable robot of FIG. 1 .
  • FIG. 4 is a rear view of the modular movable robot of FIG. 1 .
  • FIG. 5 is a plan view of the modular movable robot of FIG. 1 .
  • FIG. 6 is an exploded perspective view of the modular movable robot of FIG. 1 .
  • FIG. 7 is a schematic view for explaining a control flow of the modular movable robot of FIG. 1 .
  • FIG. 8 is a perspective view for explaining a state in which a porter module is coupled to the modular movable robot of FIG. 1 .
  • FIG. 9 is a perspective view for explaining a state in which a serving module is coupled to the modular movable robot of FIG. 1 .
  • FIG. 10 is a perspective view for explaining a state in which a shopping module is coupled to the modular movable robot of FIG. 1 .
  • FIG. 11 is a perspective view for explaining a modular movable robot according to another embodiment.
  • FIGS. 1 to 7 a modular movable robot according to an embodiment will be described with reference to FIGS. 1 to 7 .
  • FIG. 1 is a perspective view for explaining a modular movable robot according to an embodiment.
  • FIG. 2 is a front view of the modular movable robot of FIG. 1 .
  • FIG. 3 is a side view of the modular movable robot of FIG. 1 .
  • FIG. 4 is a rear view of the modular movable robot of FIG. 1 .
  • FIG. 5 is a plan view of the modular movable robot of FIG. 1 .
  • FIG. 6 is an exploded perspective view of the modular movable robot of FIG. 1 .
  • FIG. 7 is a schematic view for explaining a control flow of the modular movable robot of FIG. 1 .
  • FIGS. 1, 2 , and 5 For reference, for convenience of description, an example of image information is displayed on each of a body display unit 400 and a head display unit 500 of FIGS. 1, 2 , and 5 .
  • a modular movable robot 1 may include a main body 100 , a distance sensor 110 , a light emitting unit 120 , a driving unit 200 , a module coupling plate 300 , a body display unit 400 , a head display unit 500 , a connection unit 510 , and a control unit 550 .
  • the main body 100 may constitute a body of the modular movable robot 1 .
  • the main body 100 may have, for example, a circular or oval cross-section.
  • the driving unit 200 may be mounted on a lower end of the main body 100
  • the module coupling plate 300 may be mounted on an upper end of the main body 100 .
  • control unit 550 may be provided in the main body 100 .
  • control unit 550 may not be provided in the main body 100 but be provided in the body display unit 400 or the module coupling plate 300 .
  • the structure in which the control unit 550 is provided (built) in the main body 100 will be described as an example.
  • the distance sensor 110 and/or the light emitting unit 120 may be mounted on a top surface of the main body 100 .
  • the distance sensor 110 and the light emitting unit 120 may be mounted between the main body 100 and the module coupling plate 300 . Also, the distance sensor 110 may be mounted on a front side of a region between the main body 100 and the module coupling plate 300 , and the light emitting unit 120 may be mounted on a rear side of the region between the main body 100 and the module coupling plate 300 .
  • the distance sensor 110 may be, for example, a RGB-D sensor. Also, the distance sensor 110 may grasp a shape of an object to distinguish the object and a surface of floor from each other. Thus, the distance sensor 110 may detect an obstacle disposed outside the main body 100 . Furthermore, the distance sensor 110 may provide information with respect to the detected obstacle to the control unit 550 .
  • the light emitting unit may be, for example, a light emitting diode (LED). Also, the light emitting unit may be controlled by the control unit 550 and serve as a rear alarm lamp of the modular movable robot 1 .
  • LED light emitting diode
  • control unit 550 may receive the information with respect to the obstacle detected by the distance sensor 110 to control at least one of the driving unit 200 or the light emitting unit 120 on the basis of the received information.
  • control unit 550 may control each of the driving unit 200 and the light emitting unit 120 so that the driving unit 200 is not driven forward, and also, the light emitting unit 120 emits light (that is, the light emitting unit 120 is turned on).
  • control unit 550 may control each of the driving unit 200 and the light emitting unit 120 so that the driving unit 200 is driven forward, and also, turn-off of the light emitting unit 120 is maintained.
  • the driving unit 200 may be mounted on a lower end of the main body 100 to allow the main body 100 to be movable.
  • the driving unit 200 may include a plurality of driving wheels 200 a , 200 b , 200 c , and 200 d and a plurality of driving motors (not shown) that respectively independently drive the plurality of driving wheels 200 a , 200 b , 200 c , and 200 d.
  • each of the driving wheels 200 a , 200 b , 200 c , and 200 d may be independently driven forward and backward, and thus, the modular movable robot 1 may be easily changed in direction.
  • driving wheels are provided in the drawings, the present disclosure is not limited thereto. That is, four or more, or four or less of driving wheels may be provided.
  • the driving unit 200 may be controlled by the control unit 550 .
  • the driving motor of the driving unit 200 may be controlled by the control unit 550 . That is, since the driving motor is driven by the driving unit 200 , the driving wheels 200 a , 200 b , 200 c , and 200 d connected to the driving motor may also be driven.
  • the module coupling plate 300 may be mounted on the upper end of the main body 100 to detect the modules coupled to the top surface.
  • the module coupling plate 300 may be mounted on the upper end of the main body 100 , and the module coupling plate 300 may have, for example, a circular or oval cross-section, like the main body 100 .
  • the body display unit 400 may be disposed on one side of the module coupling plate 300 to extend in a longitudinal direction (i.e., a vertical direction). That is, the body display unit 400 may be integrated with a front side of the module coupling plate 300 . Alternatively, the body display unit 400 may be disposed on other portions (e.g., a rear side or a lateral side) in addition to the front side of the module coupling plate 300 . Also, the body display unit 400 may be provided in a separation type (i.e., separate components) instead of the integration type. However, for convenience of description, according to an embodiment, the structure in which the body display unit 400 is integrated with the front end of the module coupling plate 300 will be described as an example.
  • the module coupling plate 300 may detect a kind of coupled specific module.
  • the module coupling plate 300 may receive information (for example, identification (ID) of the porter module) with respect to the corresponding module from the specific module (for example, the porter module). Also, the module coupling plate 300 may detect a kind of module coupled to the top surface on the basis of the information with respect to the corresponding module, which is received from the specific module. Alternatively, the module coupling plate 300 may provide the information with respect to the detected module to the control unit 550 , and then the control unit 550 may determine a kind of the module coupled to the module coupling plate 300 .
  • ID identification
  • the module coupling plate 300 may detect a kind of module coupled to the top surface on the basis of the information with respect to the corresponding module, which is received from the specific module.
  • the module coupling plate 300 may provide the information with respect to the detected module to the control unit 550 , and then the control unit 550 may determine a kind of the module coupled to the module coupling plate 300 .
  • the module may be coupled to the top surface of the module coupling plate 300 to cover both side surfaces of the body display unit 400 . Also, the module may be detachably coupled to the top surface of the module coupling plate 300 .
  • the module coupling plate 300 may include a detection sensor (not shown) that is capable of detecting the module coupled to the top surface.
  • the detection sensor may detect a weight of the module coupled to the top surface of the module coupling plate 300 to determine the kind of corresponding module.
  • the detection sensor may detect a weight of the module coupled to the top surface of the module coupling plate 300 to compare the detected weight of the module to weight information for each module, which is stored in internal database (for example, database provided in the module coupling plate 300 or the main body 100 ). Thereafter, the detection sensor may select the module having the weight information that matches the detected weight of the module to provide information with respect to the selected module to the control unit 550 .
  • internal database for example, database provided in the module coupling plate 300 or the main body 100 .
  • the detection sensor may be linked with the body display unit 400 to detect a height (i.e., a vertical height) of the module coupled to the top surface of the module coupling plate 300 , thereby determining a kind of corresponding module.
  • a first opening OP 1 opened in front and both side directions and a second opening OP 2 opened in a rear direction may be defined between the module coupling plate 300 and the main body 100 .
  • the distance sensor 110 mounted on the front area of the area between the main body 100 and the module coupling plate 300 may detect an obstacle through the first opening OP 1
  • the light emitting unit 120 mounted on the rear area of the area between the main body 100 and the module coupling plate 300 may emit light through the second opening OP 2 .
  • the body display unit 400 may be disposed to vertically extend from one end of the module coupling plate 300 .
  • the body display unit 400 may be integrated with the module coupling plate 300 , and the head display unit 500 may be rotatably mounted on an upper end of the body display unit 400 . Also, specific information (for example, service information with respect to the coupled module) may be displayed on the body display unit 400 .
  • a user authentication part 420 may be disposed on the body display unit 400 .
  • the user authentication part 420 may be a module for confirming identification of a user that wishes a specific service from the modular movable robot 1 and provided in the body display unit 400 .
  • the user authentication part 420 may provide information with respect to the authenticated user to the control unit 550 .
  • the control unit 550 may control information displayed on the body display unit 400 on the basis of the information with respect to the authenticated user, which is provided from the user authentication part 420 . That is, the control unit 550 may display the customized information on the body display unit 400 on the basis of the information with respect to the authenticated user. Alternatively, the control unit 550 may control the driving of the driving unit 200 on the basis of the information with respect to the authenticated user.
  • At least one of a barcode, a quick response code (QR code), radio frequency identification (RFID), or Bluetooth may be applied to the user authentication part 420 .
  • a card insertion port 450 may be defined in a front surface of the body display unit 400 , and the user authentication part 420 may perform a user authentication operation through a card inserted into the card insertion port 450 .
  • the user authentication part 420 may identify (i.e., user authentication) of the user (for example, user's passport information, a room number, the number of nights, etc.) through the card inserted in the card insertion port 450 .
  • the control unit 550 may control the body display unit 400 to display the user's room number, the remaining number of nights, a user name, and the like on the body display unit 400 on the basis of the information about the authenticated user. Furthermore, the control unit 550 may control the driving unit 200 on the basis of the information with respect to the authenticated user to carry a user's luggage to the user's room.
  • a touch screen 440 may be disposed on the body display unit 400 .
  • the touch screen 440 may be a device for receiving an input from the user and display specific information (e.g., service information related to the coupled module).
  • the touch screen 440 may provide the input received from the user to the control unit 550 .
  • the control unit 550 may control at least one of the driving unit 200 , the body display unit 400 , the head display unit 500 , or the connection unit 510 that will be described later on the basis of the input received from the touch screen 440 .
  • the touch screen 440 may provide the input received from the user (i.e., the input with respect to ‘Move to Gate 2 ’) to the control unit 550 .
  • the control unit 550 may control each of the head display unit 500 and the body display unit 400 so that ‘winking expression’ is displayed on the head display unit 500 , and ‘move from the current position to Gate 2 ’ is displayed on the body display unit 400 on the basis of the input received from the touch screen 440 .
  • the control unit 550 may control the driving unit 200 on the basis of the input received from the touch screen 440 to carry the user's luggage to Gate 2 .
  • the head display unit 500 may be rotatably mounted on an upper end of the body display unit 400 .
  • the head display unit 500 may be mounted on the upper end of the body display unit 400 through the connection unit 510 .
  • the head display unit 500 may have, for example, a circular cross-section.
  • connection unit 510 may connect the head display unit 500 to the body display unit 400 .
  • the connection unit 510 may have one end fixed and coupled to the head display unit 500 and the other end rotatably coupled to the body display unit 400 .
  • the connection unit 510 may have one end coupled to a rear surface of the head display unit 500 to pass through the head display unit 500 and the other end coupled to a top surface of the body display unit 400 to pass through the body display unit 400 .
  • connection unit 510 may be a portion of the head display unit 500 or be a separate component.
  • connection unit 510 is the component that is separated from the head display unit 500
  • the structure in which the connection unit 510 is the component that is separated from the head display unit 500 will be described as an example.
  • specific information e.g., service information related to the coupled module or facial expression information (e.g., smiley, winking) depending on the situation
  • specific information e.g., service information related to the coupled module or facial expression information (e.g., smiley, winking) depending on the situation
  • facial expression information e.g., smiley, winking
  • the expression information may be disposed on the head display unit 500 , and thus, the head display unit 500 may serve as a face of the modular movable robot 1 .
  • the head display unit 500 may serve as the face
  • the connection unit 510 may serve as a neck
  • the body display unit 400 may serve as a body
  • the driving unit 200 may serve as a foot.
  • the control unit 550 may be built in the main body 100 to control the body display unit 400 , the head display unit 500 , the driving unit 200 , the light emitting unit 120 , and the connection unit 510 .
  • control unit 550 may control information displayed on each of the body display unit 400 and the head display unit 500 , rotation of the head display unit 500 (i.e., rotation of the connection unit 510 ), and an operation of each of the driving unit 200 and the light emitting unit 120 .
  • the control unit may receive information with respect to the module detected by the module coupling plate 300 to control at least one of the body display unit 400 or the head display unit 500 on the basis of the received information. That is, the control unit 550 may control the body display unit 400 and/or the head display unit 500 so that specific information (for example, service-related UI (user interface) dependent on the detected module) is displayed on the body display unit 400 (i.e., the touch screen 440 ) and/or the head display unit 500 . In other words, the control unit 550 may change user interfaces provided by the body display unit 400 and/or the head display unit 500 based on the information with respect to the detected module.
  • specific information for example, service-related UI (user interface) dependent on the detected module
  • control unit 550 may control moving behavior of the robot based on the information with respect to the detected module. For instance, the moving speed of the robot when the detected module is a porter module may be higher than the moving speed of the robot when the detected module is a serving module.
  • control unit 550 may use different data, which are stored in a memory space of the robot or received from a server associated with the robot, based on the information with respect to the detected module. For instance, when the detected module is a porter module, the control unit 550 may retrieve and use map data of a hotel, where the robot is located, from a memory space. When the detected module is a serving module, the control unit 550 may retrieve and use map data of a restaurant, which the robot is located, from the memory space.
  • control unit 550 may receive information with respect to an obstacle detected by the distance sensor 110 to control at least one of the driving unit 200 or the light emitting unit 120 on the basis of the received information. That is, the control unit 550 may control a driving direction or driving of the driving unit 200 according to the detected obstacle and also control driving of the light emitting unit 120 .
  • control unit 550 may control at least one of the information displayed on the body display unit 400 (i.e., the touch screen 400 ) or the driving of the driving unit 200 on the basis of the information with respect to the authenticated user, which is received from the user authentication part 420 .
  • control unit 550 may control at least one of the driving unit 200 , the body display unit 400 , or the head display unit 500 on the basis of the input (i.e., the user input) received from the touch screen 440 .
  • control unit 550 may control rotation of the head display unit 500 on the basis of the information received from the module coupling plate 300 , the distance sensor 110 , the user authentication part 420 , or the touch screen 440 .
  • control unit 550 may control rotation of the connection unit 510 to indirectly control the rotation of the head display unit 550 .
  • the modular movable robot 1 has the same constituent and characteristic as those of the modular movable robot 1 according to the foregoing embodiment.
  • various application examples of the modular movable robot 1 will be described with reference to FIGS. 8 to 10 .
  • FIG. 8 is a perspective view for explaining a state in which a porter module is coupled to the modular movable robot of FIG. 1 .
  • FIG. 9 is a perspective view for explaining a state in which a serving module is coupled to the modular movable robot of FIG. 1 .
  • FIG. 10 is a perspective view for explaining a state in which a shopping module is coupled to the modular movable robot of FIG. 1 .
  • a porter module PM is coupled to a modular movable robot 1 .
  • the porter module PM is a module for carrying a user's load C (for example, a luggage) at a hotel, a resort, an airport, and the like.
  • the modular movable robot 1 may be a robot providing a carrying service.
  • the modular movable robot 1 to which the porter module PM is coupled may carry a customer's load C at a place such as a hotel or a resort and guide the customer to the room.
  • the modular movable robot 1 to which the porter module PM is coupled may provide check-in or check-out service to the customer.
  • a serving module SVM is coupled to the modular movable robot 1 .
  • the serving module SVM is a module for providing a service to a user at a hotel, a restaurant, and the like.
  • the modular movable robot 1 may be a robot providing the serving.
  • the modular movable robot 1 to which the serving module SVM is coupled may provide a room service to a customer at a place such as a hotel or a resort and guide the customer to the room.
  • the modular movable robot 1 to which the serving module SVM is coupled may also serve (e.g., serve water, provide a menu plate, etc.) to a customer at a place such as a restaurant or a banquet hall.
  • a shopping module SPM is coupled to the modular movable robot 1 .
  • the shopping module SPM is a module for providing a shopping service to a user in a mart, a department store, an outlet, and the like.
  • the modular movable robot 1 may be a robot providing the shopping service.
  • a modular movable robot 1 to which the shopping module SPM is coupled may carry goods or food purchased by the customer in a place such as a mart, a department store, or an outlet and may provide a guidance and an unattended service to the customer.
  • the modular movable robot 1 to which the shopping module SPM is coupled may provide an optimal shopping course and discount information to the customer.
  • the modular movable robot 1 may provide the various services according to the module to be coupled and thus may improve the utilization of the existing robot for the daily life. Also, the modular movable robot 1 according to an embodiment may provide the various services by only changing the modules to be combined to reduce the number of robots required for enjoying the various services. Therefore, the production cost may be reduced, the space utilization may be improved.
  • the modular movable robot 1 may be automatically driven to expand the application fields and improve the service quality. Also, it may be unnecessary to directly move the robot so as to provide the service at a specific position or place, thereby improving usability.
  • FIG. 11 is a perspective view for explaining a modular movable robot according to another embodiment.
  • a modular movable robot 2 is the same as the modular movable robot 1 of FIG. 1 except for some components, and thus, a difference therebetween will be mainly described.
  • the modular movable robot 2 according to another embodiment of the present invention further includes a first coupling fixing part 610 and a second coupling fixing part 620 .
  • the first coupling fixing part 610 may be disposed on a rear surface of a body display unit 400 to horizontally extend.
  • the second coupling fixing part 620 may protrude upward from an edge of a top surface of a module coupling plate 300 .
  • the second coupling fixing part 620 may be provided in plurality 620 a and 620 b (alternatively, two second coupling fixing parts may be provided).
  • the module may be coupled to a top surface of a module coupling plate 300 to cover both side surfaces of a body display unit 400 .
  • the first coupling fixing part 610 contacts a front surface of the corresponding module
  • the second coupling fixing part 620 contacts a bottom surface of the corresponding module. That is, the first coupling fixing part 610 supports the front surface of the corresponding module, and the second coupling fixing part 620 supports the bottom surface of the corresponding module.
  • the corresponding module may be firmly fixed to the body display unit 400 and the module coupling plate 300 . That is, the corresponding module may be fixed to the body display unit 400 by the first coupling fixing part 610 and fixed to the module coupling plate 300 by the second coupling fixing part 620 .
  • a longitudinal length of the first coupling fixing part 610 may be changed according to a vertical height of the coupled module.
  • a contact area between the first coupling fixing part 610 and the corresponding module may be changed.
  • the above-described detection sensor may be disposed on the second coupling fixing part 620 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • Toxicology (AREA)
  • General Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Hardware Design (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Provided is a modular movable robot that is capable of providing various services and realizing automatic driving. The modular movable robot includes a main body, a driving unit mounted on a lower end of the main body so that the main body is movable, a module coupling plate mounted on an upper end of the main body to detect a module coupled to a top surface thereof, a body display unit extending from one end of the module coupling plate in a vertical direction, a head display unit rotatably mounted on an upper end of the body display unit, and a control unit configured to receive information with respect to the detected module from the module coupling plate to control at least one of the body display unit or the head display unit on the basis of the received information.

Description

CROSS REFERENCE TO RELATED APPLICATIONS
This application is the National Phase of PCT International Application No. PCT/KR2019/005984, filed on May 20, 2019, which claims priority under 35 U.S.C. 119(a) to Patent Application No. 10-2018-0068252, filed in the Republic of Korea on Jun. 14, 2018, all of which are hereby expressly incorporated by reference into the present application.
TECHNICAL FIELD
The present disclosure relates to a modular movable robot that is capable of providing various services and realizing automatic driving.
BACKGROUND ART
Robots have been developed for industrial use in order to be part of factory automation. In recent years, fields of application of the robots have been expanded, and thus, robots that are used in everyday life as well as medical robots and aerospace robots are being developed.
Such a robot for the daily life provides specific services (e.g., shopping, serving, talking, cleaning, etc.) in response to a user's command.
However, since the existing robots for the daily life are designed to provide only a specific service, there is a limitation that cost-effective utilization of the robots is not high.
As a result, in recent years, there is a need for robots capable of providing various services.
DISCLOSURE OF INVENTION Technical Problem
Embodiments provide a modular movable robot that is capable of providing various services.
Embodiments also provide a modular movable robot to realize automatic driving.
The objects of the present invention are not limited to the aforesaid, but other objects not described herein will be clearly understood by those skilled in the art from descriptions below. Also, the objects and advantages of the present invention the means as claimed and combinations thereof can be easily realized by it will be seen.
Solution to Problem
In one embodiment, a modular movable robot may include a module coupling plate detecting a module coupled to a top surface thereof and a control unit controlling at least one of the body display unit or the head display unit on the basis of information with respect to the detected module, which is received from the module coupling plate to provide various services.
In another embodiment, a modular movable robot includes a distance sensor mounted between a module coupling plate and a main body to detect an obstacle disposed outside the main body, a driving sensor mounted on a lower end of the main body so that the main body is movable, and a control unit controlling driving of the driving unit on the basis of information with respect to a detected obstacle, which is received from the distance sensor to realize automatic driving.
Advantageous Effects of Invention
The modular movable robot according to the embodiment may provide the various services according to the module to be combined and thus may improve the utilization of the existing robot for the daily life. Also, the modular movable robot according to the embodiment may provide the various services by only changing the modules to be coupled to reduce the number of robots required for enjoying the various services. Therefore, the production cost may be reduced, the space utilization may be improved.
In addition, the modular movable robot according to an embodiment may be automatically driven to expand the application fields and improve the service quality. Also, it may be unnecessary to directly move the robot so as to provide the service at a specific position or place, thereby improving the usability.
The specific effects of the present invention in addition to the above-described effects will be described below together while describing specific details for carrying out the invention.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a perspective view for explaining a modular movable robot according to an embodiment.
FIG. 2 is a front view of the modular movable robot of FIG. 1.
FIG. 3 is a side view of the modular movable robot of FIG. 1.
FIG. 4 is a rear view of the modular movable robot of FIG. 1.
FIG. 5 is a plan view of the modular movable robot of FIG. 1.
FIG. 6 is an exploded perspective view of the modular movable robot of FIG. 1.
FIG. 7 is a schematic view for explaining a control flow of the modular movable robot of FIG. 1.
FIG. 8 is a perspective view for explaining a state in which a porter module is coupled to the modular movable robot of FIG. 1.
FIG. 9 is a perspective view for explaining a state in which a serving module is coupled to the modular movable robot of FIG. 1.
FIG. 10 is a perspective view for explaining a state in which a shopping module is coupled to the modular movable robot of FIG. 1.
FIG. 11 is a perspective view for explaining a modular movable robot according to another embodiment.
 MODE FOR THE INVENTION
Preferred embodiments of the inventive concept will be described below in more detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same or similar elements.
Hereinafter, a modular movable robot according to an embodiment will be described with reference to FIGS. 1 to 7.
FIG. 1 is a perspective view for explaining a modular movable robot according to an embodiment. FIG. 2 is a front view of the modular movable robot of FIG. 1. FIG. 3 is a side view of the modular movable robot of FIG. 1. FIG. 4 is a rear view of the modular movable robot of FIG. 1. FIG. 5 is a plan view of the modular movable robot of FIG. 1. FIG. 6 is an exploded perspective view of the modular movable robot of FIG. 1. FIG. 7 is a schematic view for explaining a control flow of the modular movable robot of FIG. 1.
For reference, for convenience of description, an example of image information is displayed on each of a body display unit 400 and a head display unit 500 of FIGS. 1, 2, and 5.
Referring to FIGS. 1 to 7, a modular movable robot 1 according to an embodiment may include a main body 100, a distance sensor 110, a light emitting unit 120, a driving unit 200, a module coupling plate 300, a body display unit 400, a head display unit 500, a connection unit 510, and a control unit 550.
The main body 100 may constitute a body of the modular movable robot 1.
In detail, the main body 100 may have, for example, a circular or oval cross-section. Also, the driving unit 200 may be mounted on a lower end of the main body 100, and the module coupling plate 300 may be mounted on an upper end of the main body 100.
Also, the control unit 550 may be provided in the main body 100. Alternatively, the control unit 550 may not be provided in the main body 100 but be provided in the body display unit 400 or the module coupling plate 300. However, for convenience of description, according to an embodiment, the structure in which the control unit 550 is provided (built) in the main body 100 will be described as an example.
Also, the distance sensor 110 and/or the light emitting unit 120 may be mounted on a top surface of the main body 100.
In detail, the distance sensor 110 and the light emitting unit 120 may be mounted between the main body 100 and the module coupling plate 300. Also, the distance sensor 110 may be mounted on a front side of a region between the main body 100 and the module coupling plate 300, and the light emitting unit 120 may be mounted on a rear side of the region between the main body 100 and the module coupling plate 300.
Here, the distance sensor 110 may be, for example, a RGB-D sensor. Also, the distance sensor 110 may grasp a shape of an object to distinguish the object and a surface of floor from each other. Thus, the distance sensor 110 may detect an obstacle disposed outside the main body 100. Furthermore, the distance sensor 110 may provide information with respect to the detected obstacle to the control unit 550.
Also, the light emitting unit may be, for example, a light emitting diode (LED). Also, the light emitting unit may be controlled by the control unit 550 and serve as a rear alarm lamp of the modular movable robot 1.
That is, the control unit 550 may receive the information with respect to the obstacle detected by the distance sensor 110 to control at least one of the driving unit 200 or the light emitting unit 120 on the basis of the received information.
For example, when information in which an obstacle exists at the front of the modular movable robot 1 is received from the distance sensor 110, the control unit 550 may control each of the driving unit 200 and the light emitting unit 120 so that the driving unit 200 is not driven forward, and also, the light emitting unit 120 emits light (that is, the light emitting unit 120 is turned on).
Also, when information in which an obstacle does not exist at the front of the modular movable robot 1 is received from the distance sensor 110, the control unit 550 may control each of the driving unit 200 and the light emitting unit 120 so that the driving unit 200 is driven forward, and also, turn-off of the light emitting unit 120 is maintained.
The driving unit 200 may be mounted on a lower end of the main body 100 to allow the main body 100 to be movable.
In detail, the driving unit 200 may include a plurality of driving wheels 200 a, 200 b, 200 c, and 200 d and a plurality of driving motors (not shown) that respectively independently drive the plurality of driving wheels 200 a, 200 b, 200 c, and 200 d.
Thus, each of the driving wheels 200 a, 200 b, 200 c, and 200 d may be independently driven forward and backward, and thus, the modular movable robot 1 may be easily changed in direction.
For reference, although four driving wheels are provided in the drawings, the present disclosure is not limited thereto. That is, four or more, or four or less of driving wheels may be provided.
Also, the driving unit 200 may be controlled by the control unit 550.
In detail, the driving motor of the driving unit 200 may be controlled by the control unit 550. That is, since the driving motor is driven by the driving unit 200, the driving wheels 200 a, 200 b, 200 c, and 200 d connected to the driving motor may also be driven.
The module coupling plate 300 may be mounted on the upper end of the main body 100 to detect the modules coupled to the top surface.
In detail, the module coupling plate 300 may be mounted on the upper end of the main body 100, and the module coupling plate 300 may have, for example, a circular or oval cross-section, like the main body 100.
Also, the body display unit 400 may be disposed on one side of the module coupling plate 300 to extend in a longitudinal direction (i.e., a vertical direction). That is, the body display unit 400 may be integrated with a front side of the module coupling plate 300. Alternatively, the body display unit 400 may be disposed on other portions (e.g., a rear side or a lateral side) in addition to the front side of the module coupling plate 300. Also, the body display unit 400 may be provided in a separation type (i.e., separate components) instead of the integration type. However, for convenience of description, according to an embodiment, the structure in which the body display unit 400 is integrated with the front end of the module coupling plate 300 will be described as an example.
When specific modules (for example, a porter module, a serving module, and a shopping module, which will be described below) are coupled to the top surface of the module coupling plate 300, the module coupling plate 300 may detect a kind of coupled specific module.
In detail, when the specific module is coupled (i.e., electrically connected) to the top surface of the module coupling plate 300, the module coupling plate 300 may receive information (for example, identification (ID) of the porter module) with respect to the corresponding module from the specific module (for example, the porter module). Also, the module coupling plate 300 may detect a kind of module coupled to the top surface on the basis of the information with respect to the corresponding module, which is received from the specific module. Alternatively, the module coupling plate 300 may provide the information with respect to the detected module to the control unit 550, and then the control unit 550 may determine a kind of the module coupled to the module coupling plate 300.
For reference, the module may be coupled to the top surface of the module coupling plate 300 to cover both side surfaces of the body display unit 400. Also, the module may be detachably coupled to the top surface of the module coupling plate 300.
Also, although not shown in the drawings, according to an embodiment, the module coupling plate 300 may include a detection sensor (not shown) that is capable of detecting the module coupled to the top surface.
Here, the detection sensor may detect a weight of the module coupled to the top surface of the module coupling plate 300 to determine the kind of corresponding module.
In detail, the detection sensor may detect a weight of the module coupled to the top surface of the module coupling plate 300 to compare the detected weight of the module to weight information for each module, which is stored in internal database (for example, database provided in the module coupling plate 300 or the main body 100). Thereafter, the detection sensor may select the module having the weight information that matches the detected weight of the module to provide information with respect to the selected module to the control unit 550.
Also, the detection sensor may be linked with the body display unit 400 to detect a height (i.e., a vertical height) of the module coupled to the top surface of the module coupling plate 300, thereby determining a kind of corresponding module.
However, for convenience of description, according to an embodiment, a structure in which the module coupling plate 300 is electrically connected to the module coupled to the top surface without a separate detection sensor to detect the kind of corresponding module will be described as an example.
A first opening OP1 opened in front and both side directions and a second opening OP2 opened in a rear direction may be defined between the module coupling plate 300 and the main body 100.
Thus, the distance sensor 110 mounted on the front area of the area between the main body 100 and the module coupling plate 300 may detect an obstacle through the first opening OP1, and the light emitting unit 120 mounted on the rear area of the area between the main body 100 and the module coupling plate 300 may emit light through the second opening OP2.
The body display unit 400 may be disposed to vertically extend from one end of the module coupling plate 300.
In detail, the body display unit 400 may be integrated with the module coupling plate 300, and the head display unit 500 may be rotatably mounted on an upper end of the body display unit 400. Also, specific information (for example, service information with respect to the coupled module) may be displayed on the body display unit 400.
Also, a user authentication part 420 may be disposed on the body display unit 400.
In detail, the user authentication part 420 may be a module for confirming identification of a user that wishes a specific service from the modular movable robot 1 and provided in the body display unit 400.
Also, the user authentication part 420 may provide information with respect to the authenticated user to the control unit 550. The control unit 550 may control information displayed on the body display unit 400 on the basis of the information with respect to the authenticated user, which is provided from the user authentication part 420. That is, the control unit 550 may display the customized information on the body display unit 400 on the basis of the information with respect to the authenticated user. Alternatively, the control unit 550 may control the driving of the driving unit 200 on the basis of the information with respect to the authenticated user.
For example, at least one of a barcode, a quick response code (QR code), radio frequency identification (RFID), or Bluetooth may be applied to the user authentication part 420.
For reference, a card insertion port 450 may be defined in a front surface of the body display unit 400, and the user authentication part 420 may perform a user authentication operation through a card inserted into the card insertion port 450.
For example, when the porter module is coupled to the modular movable robot 1 used in a hotel, and the user inserts a room card into the card insertion port 450 in a state in which luggage is placed on the modular movable robot 1, the user authentication part 420 may identify (i.e., user authentication) of the user (for example, user's passport information, a room number, the number of nights, etc.) through the card inserted in the card insertion port 450. Thereafter, when the user authentication part 420 provides information on the authenticated user to the control unit 550, the control unit 550 may control the body display unit 400 to display the user's room number, the remaining number of nights, a user name, and the like on the body display unit 400 on the basis of the information about the authenticated user. Furthermore, the control unit 550 may control the driving unit 200 on the basis of the information with respect to the authenticated user to carry a user's luggage to the user's room.
A touch screen 440 may be disposed on the body display unit 400.
In detail, the touch screen 440 may be a device for receiving an input from the user and display specific information (e.g., service information related to the coupled module).
Also, the touch screen 440 may provide the input received from the user to the control unit 550. The control unit 550 may control at least one of the driving unit 200, the body display unit 400, the head display unit 500, or the connection unit 510 that will be described later on the basis of the input received from the touch screen 440.
For example, when a porter module is coupled to the modular movable robot 1 used at an airport, and the user touches a ‘Move to Gate 2’ icon displayed on the touch screen 440 in a state where the luggage is placed on the modular movable robot 1, the touch screen 440 may provide the input received from the user (i.e., the input with respect to ‘Move to Gate 2’) to the control unit 550. Also, the control unit 550 may control each of the head display unit 500 and the body display unit 400 so that ‘winking expression’ is displayed on the head display unit 500, and ‘move from the current position to Gate 2’ is displayed on the body display unit 400 on the basis of the input received from the touch screen 440. Also, the control unit 550 may control the driving unit 200 on the basis of the input received from the touch screen 440 to carry the user's luggage to Gate 2.
The head display unit 500 may be rotatably mounted on an upper end of the body display unit 400.
In detail, the head display unit 500 may be mounted on the upper end of the body display unit 400 through the connection unit 510. The head display unit 500 may have, for example, a circular cross-section.
Here, the connection unit 510 may connect the head display unit 500 to the body display unit 400. In more detail, the connection unit 510 may have one end fixed and coupled to the head display unit 500 and the other end rotatably coupled to the body display unit 400. For reference, the connection unit 510 may have one end coupled to a rear surface of the head display unit 500 to pass through the head display unit 500 and the other end coupled to a top surface of the body display unit 400 to pass through the body display unit 400.
For reference, the connection unit 510 may be a portion of the head display unit 500 or be a separate component.
However, for convenience of description, according to an embodiment, the structure in which the connection unit 510 is the component that is separated from the head display unit 500 will be described as an example.
Also, specific information (e.g., service information related to the coupled module or facial expression information (e.g., smiley, winking) depending on the situation) may be displayed on the head display unit 500.
Particularly, the expression information may be disposed on the head display unit 500, and thus, the head display unit 500 may serve as a face of the modular movable robot 1. For reference, in the modular movable robot 1, the head display unit 500 may serve as the face, the connection unit 510 may serve as a neck, the body display unit 400 may serve as a body, and the driving unit 200 may serve as a foot.
The control unit 550 may be built in the main body 100 to control the body display unit 400, the head display unit 500, the driving unit 200, the light emitting unit 120, and the connection unit 510.
That is, the control unit 550 may control information displayed on each of the body display unit 400 and the head display unit 500, rotation of the head display unit 500 (i.e., rotation of the connection unit 510), and an operation of each of the driving unit 200 and the light emitting unit 120.
In detail, as illustrated in FIG. 7, the control unit may receive information with respect to the module detected by the module coupling plate 300 to control at least one of the body display unit 400 or the head display unit 500 on the basis of the received information. That is, the control unit 550 may control the body display unit 400 and/or the head display unit 500 so that specific information (for example, service-related UI (user interface) dependent on the detected module) is displayed on the body display unit 400 (i.e., the touch screen 440) and/or the head display unit 500. In other words, the control unit 550 may change user interfaces provided by the body display unit 400 and/or the head display unit 500 based on the information with respect to the detected module.
Further, the control unit 550 may control moving behavior of the robot based on the information with respect to the detected module. For instance, the moving speed of the robot when the detected module is a porter module may be higher than the moving speed of the robot when the detected module is a serving module.
Further, the control unit 550 may use different data, which are stored in a memory space of the robot or received from a server associated with the robot, based on the information with respect to the detected module. For instance, when the detected module is a porter module, the control unit 550 may retrieve and use map data of a hotel, where the robot is located, from a memory space. When the detected module is a serving module, the control unit 550 may retrieve and use map data of a restaurant, which the robot is located, from the memory space.
Also, the control unit 550 may receive information with respect to an obstacle detected by the distance sensor 110 to control at least one of the driving unit 200 or the light emitting unit 120 on the basis of the received information. That is, the control unit 550 may control a driving direction or driving of the driving unit 200 according to the detected obstacle and also control driving of the light emitting unit 120.
Also, the control unit 550 may control at least one of the information displayed on the body display unit 400 (i.e., the touch screen 400) or the driving of the driving unit 200 on the basis of the information with respect to the authenticated user, which is received from the user authentication part 420.
Also, the control unit 550 may control at least one of the driving unit 200, the body display unit 400, or the head display unit 500 on the basis of the input (i.e., the user input) received from the touch screen 440.
Also, the control unit 550 may control rotation of the head display unit 500 on the basis of the information received from the module coupling plate 300, the distance sensor 110, the user authentication part 420, or the touch screen 440. Alternatively, the control unit 550 may control rotation of the connection unit 510 to indirectly control the rotation of the head display unit 550.
As described above, the modular movable robot 1 according to an embodiment has the same constituent and characteristic as those of the modular movable robot 1 according to the foregoing embodiment. Thus, hereinafter, various application examples of the modular movable robot 1 will be described with reference to FIGS. 8 to 10.
FIG. 8 is a perspective view for explaining a state in which a porter module is coupled to the modular movable robot of FIG. 1. FIG. 9 is a perspective view for explaining a state in which a serving module is coupled to the modular movable robot of FIG. 1. FIG. 10 is a perspective view for explaining a state in which a shopping module is coupled to the modular movable robot of FIG. 1.
For reference, for convenience of description, an example of image information is displayed on each of the body display unit 400 and a head display unit 500 of FIGS. 8 to 10.
First, referring to FIG. 8, a porter module PM is coupled to a modular movable robot 1.
In detail, the porter module PM is a module for carrying a user's load C (for example, a luggage) at a hotel, a resort, an airport, and the like.
Thus, when the porter module PM is coupled to the modular movable robot 1, the modular movable robot 1 may be a robot providing a carrying service.
For example, the modular movable robot 1 to which the porter module PM is coupled may carry a customer's load C at a place such as a hotel or a resort and guide the customer to the room. In addition, the modular movable robot 1 to which the porter module PM is coupled may provide check-in or check-out service to the customer.
Sequentially, referring to FIG. 9, a serving module SVM is coupled to the modular movable robot 1.
In detail, the serving module SVM is a module for providing a service to a user at a hotel, a restaurant, and the like.
Thus, when the serving module SVM is coupled to the modular movable robot 1, the modular movable robot 1 may be a robot providing the serving.
For example, the modular movable robot 1 to which the serving module SVM is coupled may provide a room service to a customer at a place such as a hotel or a resort and guide the customer to the room. In addition, the modular movable robot 1 to which the serving module SVM is coupled may also serve (e.g., serve water, provide a menu plate, etc.) to a customer at a place such as a restaurant or a banquet hall.
Finally, referring to FIG. 10, a shopping module SPM is coupled to the modular movable robot 1.
In detail, the shopping module SPM is a module for providing a shopping service to a user in a mart, a department store, an outlet, and the like.
Thus, when the shopping module SPM is coupled to the modular movable robot 1, the modular movable robot 1 may be a robot providing the shopping service.
For example, a modular movable robot 1 to which the shopping module SPM is coupled may carry goods or food purchased by the customer in a place such as a mart, a department store, or an outlet and may provide a guidance and an unattended service to the customer. In addition, the modular movable robot 1 to which the shopping module SPM is coupled may provide an optimal shopping course and discount information to the customer.
As described above, the modular movable robot 1 according to an embodiment may provide the various services according to the module to be coupled and thus may improve the utilization of the existing robot for the daily life. Also, the modular movable robot 1 according to an embodiment may provide the various services by only changing the modules to be combined to reduce the number of robots required for enjoying the various services. Therefore, the production cost may be reduced, the space utilization may be improved.
In addition, the modular movable robot 1 according to an embodiment may be automatically driven to expand the application fields and improve the service quality. Also, it may be unnecessary to directly move the robot so as to provide the service at a specific position or place, thereby improving usability.
Hereinafter, a modular movable robot according to another embodiment will be described with reference to FIG. 11.
FIG. 11 is a perspective view for explaining a modular movable robot according to another embodiment.
For reference, a modular movable robot 2 according to another embodiment of the present invention is the same as the modular movable robot 1 of FIG. 1 except for some components, and thus, a difference therebetween will be mainly described.
Referring to FIG. 11, unlike the modular movable robot 1 of FIG. 1, the modular movable robot 2 according to another embodiment of the present invention further includes a first coupling fixing part 610 and a second coupling fixing part 620.
In detail, the first coupling fixing part 610 may be disposed on a rear surface of a body display unit 400 to horizontally extend. Also, the second coupling fixing part 620 may protrude upward from an edge of a top surface of a module coupling plate 300. Also, the second coupling fixing part 620 may be provided in plurality 620 a and 620 b (alternatively, two second coupling fixing parts may be provided).
Also, as described above, the module may be coupled to a top surface of a module coupling plate 300 to cover both side surfaces of a body display unit 400.
Thus, when the specific module is coupled to the modular mobile robot 2, the first coupling fixing part 610 contacts a front surface of the corresponding module, and the second coupling fixing part 620 contacts a bottom surface of the corresponding module. That is, the first coupling fixing part 610 supports the front surface of the corresponding module, and the second coupling fixing part 620 supports the bottom surface of the corresponding module.
Also, due to the support structure (i.e., the first and second coupling fixing parts 610 and 620), the corresponding module may be firmly fixed to the body display unit 400 and the module coupling plate 300. That is, the corresponding module may be fixed to the body display unit 400 by the first coupling fixing part 610 and fixed to the module coupling plate 300 by the second coupling fixing part 620.
For reference, a longitudinal length of the first coupling fixing part 610 may be changed according to a vertical height of the coupled module. Thus, a contact area between the first coupling fixing part 610 and the corresponding module may be changed. In addition, although not shown, the above-described detection sensor may be disposed on the second coupling fixing part 620.
While the present invention has been described with respect to certain preferred embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the scope of the invention as defined in the following claims.
Sequence Listing Free Text
100: Main body
110: Distance sensor
120: Light emitting unit
200: Driving unit
300: Module coupling plate
400: Body display unit
500: Head display unit
510: connection unit
550: Control unit

Claims (18)

The invention claimed is:
1. A robot, comprising:
a main body having an upper portion and a lower portion;
a driver provided at the lower portion of the main body, the driver being configured to provide movement of the main body;
a body display extending upward from one side of the upper portion of the main body, the body display including an inclined portion at an upper end thereof;
a module detachably disposed above the upper portion, the module being configured to receive food or goods therein;
a module coupling plate provided at the upper portion of the main body, the module coupling plate being configured to detect the module coupled to the module coupling plate;
a head display provided on the body display; and
a controller configured to:
receive module information with respect to the detected module from the module coupling plate; and
control at least one of the body display or the head display based on the received module information.
2. The robot according to claim 1, wherein the head display is rotatably supported on the inclined portion of the body display.
3. The robot according to claim 2, wherein the head display is rotatable left-to-right between a first position where the head display and the body display face a same direction, and a second position where the head display and the body display face in opposite directions.
4. The robot according to claim 1, further comprising a connector configured to connect the head display to the body display,
wherein the connector has a first end coupled to a rear side of the head display, and
wherein the connector has a second end coupled to the inclined portion of the body display.
5. The robot according to claim 1, further comprising a user authenticator provided in the body display, the user authenticator being configured to receive user information with respect to a user,
wherein the controller is further configured to:
receive the user information from the user authenticator; and
control at least one of information displayed on the body display or driving of the driver based on the user information received.
6. The robot according to claim 5, wherein the user authenticator is configured to have at least one of a barcode, a quick response code (QR code), radio frequency identification (RFID), or Bluetooth applied to the user authenticator.
7. The robot according to claim 1, wherein the body display comprises a touch screen configured to receive an input from a user,
wherein the touch screen is configured to provide the input received from the user to the controller, and
wherein the controller is further configured to control at least one of the driver, the body display, or the head display based on the input received from the touch screen.
8. The robot according to claim 1, wherein the controller is provided in the main body, and
wherein the controller is further configured to control information displayed on the body display, information displayed on the head display, rotation of the head display, and driving of the driver.
9. The robot according to claim 1, wherein the driver comprises a plurality of driving wheels, and
wherein the controller is further configured to independently control movement of the plurality of driving wheels.
10. The robot according to claim 1, further comprising:
a first coupling fixing member disposed at a rear side of the body display and extending in a horizontal direction; and
a second coupling fixing member disposed at an upper side of the module coupling plate and extending in a vertical direction.
11. The robot according to claim 10, wherein the module is fixed to the body display by the first coupling fixing member, and fixed to the module coupling plate by the second coupling fixing member.
12. The robot according to claim 1, wherein the module is detachably coupled to a top surface of the module coupling plate,
wherein the module is one of a shopping module, a porter module, or a serving module,
wherein the shopping module enables the robot to carry goods purchased by a user,
wherein the porter module enables the robot to carry luggage of a user or guide the user to a room belonging to the user, and
wherein the serving module enables the robot to provide room service or perform serving to a user.
13. The robot according to claim 1, further comprising a first opening in the main body, the first opening extending from a right side of the main body to a left side of the main body.
14. The robot according to claim 13, wherein the first opening extends around the main body by more than 180 degrees.
15. A robot, comprising:
a main body having an upper portion, a lower portion, and a first opening, the first opening extending from a right side of the main body to a left side of the main body;
a driver provided at the lower portion of the main body, the driver being configured to provide movement of the main body;
a body display extending upward from one side of the upper portion of the main body, the body display including an inclined portion at an upper end thereof;
a module detachably disposed above the upper portion, the module being configured to receive food or goods therein;
a head display provided on the body display; and
a sensor located within the main body,
wherein the sensor is configured to detect an obstacle disposed beyond the main body, and
wherein the sensor is configured to detect the obstacle through the first opening.
16. The robot according to claim 15, further comprising:
a second opening in the main body of the robot; and
a light emitter configured to emit light,
wherein the light emitter is configured to emit the light through the second opening.
17. The robot according to claim 16, further comprising a controller configured to:
receive obstacle information with respect to the obstacle detected by the sensor; and
control at least one of the driver or the light emitter based on the received obstacle information.
18. The robot according to claim 15, wherein the sensor is an RGB-D sensor.
US16/641,087 2018-06-14 2019-05-20 Modular movable robot Active 2039-12-21 US11465292B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
KR1020180068252A KR102566528B1 (en) 2018-06-14 2018-06-14 Modular movable robot
KR10-2018-0068252 2018-06-14
PCT/KR2019/005984 WO2019240389A1 (en) 2018-06-14 2019-05-20 Modular movable robot

Publications (2)

Publication Number Publication Date
US20200254623A1 US20200254623A1 (en) 2020-08-13
US11465292B2 true US11465292B2 (en) 2022-10-11

Family

ID=68843433

Family Applications (1)

Application Number Title Priority Date Filing Date
US16/641,087 Active 2039-12-21 US11465292B2 (en) 2018-06-14 2019-05-20 Modular movable robot

Country Status (4)

Country Link
US (1) US11465292B2 (en)
EP (1) EP3609657B1 (en)
KR (1) KR102566528B1 (en)
WO (1) WO2019240389A1 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102137190B1 (en) * 2018-06-15 2020-07-24 엘지전자 주식회사 Guidance robot
KR102551538B1 (en) * 2020-03-25 2023-07-06 주식회사 비로보틱스 Mobile robot with easy function expansion and providing method thereof
WO2021194192A1 (en) * 2020-03-25 2021-09-30 주식회사 우아한형제들 Mobile robot for facilitating functional expansion, and provision method therefor
KR20210119709A (en) 2020-03-25 2021-10-06 한국과학기술연구원 Module-type robot control system
JP2023519841A (en) * 2020-03-31 2023-05-15 ウーワ ブラザーズ カンパニー リミテッド Delivery robot loading box exchange system
JP7415793B2 (en) 2020-05-19 2024-01-17 オムロン株式会社 automated guided vehicle
CN113084834A (en) * 2021-04-10 2021-07-09 快住智能科技（苏州）有限公司 Intelligent hotel business robot
CN114571476A (en) * 2022-03-10 2022-06-03 苏州蓝甲虫机器人科技有限公司 Family robot based on computer intelligent control

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007041295A2 (en) 2005-09-30 2007-04-12 Irobot Corporation Companion robot for personal interaction
KR20110004015A (en) 2009-07-07 2011-01-13 송세경 Intelligent mobile restaurant robot for serving custom and counting money
KR20110022130A (en) 2009-08-27 2011-03-07 이리오넷 주식회사 Ubiquitous personal training assistance robot
US20150012163A1 (en) 2013-07-02 2015-01-08 David Crawley Autonomous mobile platform for service applications
US20150190927A1 (en) * 2012-12-21 2015-07-09 Crosswing Inc. Customizable robotic system
US20160114488A1 (en) * 2014-10-24 2016-04-28 Fellow Robots, Inc. Customer service robot and related systems and methods
EP3135441A1 (en) 2015-08-26 2017-03-01 Airbus Operations GmbH Modular robot assembly kit, swarm of modularized robots and method of fulfilling tasks by a swarm of modularized robots
US20170129099A1 (en) 2015-11-10 2017-05-11 M3N, Inc. Multipurpose Robotic System
US20170225321A1 (en) * 2016-02-09 2017-08-10 Cobalt Robotics Inc. Mobile Robot Map Generation
US20170312916A1 (en) 2015-01-06 2017-11-02 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
WO2017219681A1 (en) 2016-06-24 2017-12-28 深圳市前海康启源科技有限公司 Domestic robot control system and method
US20180201444A1 (en) * 2017-01-16 2018-07-19 Locus Robotics Corporation Display for improved efficiency in robot assisted order-fulfillment operations
US10482550B1 (en) * 2013-03-27 2019-11-19 Vecna Robotics, Inc. Mobile robot for performing hospitality service(s) for guest(s) of a hospitatlity business
US20200242544A1 (en) * 2013-07-25 2020-07-30 IAM Robotics, LLC System and method for piece picking or put-away with a mobile manipulation robot

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101257896B1 (en) * 2011-05-25 2013-04-24 (주) 퓨처로봇 System and Method for operating smart-service robot
KR20130044859A (en) * 2011-10-25 2013-05-03 주식회사 엔티리서치 Autonomously travelling mobile robot and travel control method and system thereof
US8958911B2 (en) * 2012-02-29 2015-02-17 Irobot Corporation Mobile robot

Patent Citations (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007041295A2 (en) 2005-09-30 2007-04-12 Irobot Corporation Companion robot for personal interaction
US20070192910A1 (en) 2005-09-30 2007-08-16 Clara Vu Companion robot for personal interaction
US20070199108A1 (en) * 2005-09-30 2007-08-23 Colin Angle Companion robot for personal interaction
KR20110004015A (en) 2009-07-07 2011-01-13 송세경 Intelligent mobile restaurant robot for serving custom and counting money
KR20110022130A (en) 2009-08-27 2011-03-07 이리오넷 주식회사 Ubiquitous personal training assistance robot
US20150190927A1 (en) * 2012-12-21 2015-07-09 Crosswing Inc. Customizable robotic system
US10482550B1 (en) * 2013-03-27 2019-11-19 Vecna Robotics, Inc. Mobile robot for performing hospitality service(s) for guest(s) of a hospitatlity business
US20150012163A1 (en) 2013-07-02 2015-01-08 David Crawley Autonomous mobile platform for service applications
US20200242544A1 (en) * 2013-07-25 2020-07-30 IAM Robotics, LLC System and method for piece picking or put-away with a mobile manipulation robot
US20160114488A1 (en) * 2014-10-24 2016-04-28 Fellow Robots, Inc. Customer service robot and related systems and methods
US20170312916A1 (en) 2015-01-06 2017-11-02 Discovery Robotics Apparatus and methods for providing a reconfigurable robotic platform
US20170057081A1 (en) 2015-08-26 2017-03-02 Airbus Operations Gmbh Modular robot assembly kit, swarm of modularized robots and method of fulfilling tasks by a swarm of modularized robot
EP3135441A1 (en) 2015-08-26 2017-03-01 Airbus Operations GmbH Modular robot assembly kit, swarm of modularized robots and method of fulfilling tasks by a swarm of modularized robots
US20170129099A1 (en) 2015-11-10 2017-05-11 M3N, Inc. Multipurpose Robotic System
US20170225321A1 (en) * 2016-02-09 2017-08-10 Cobalt Robotics Inc. Mobile Robot Map Generation
WO2017219681A1 (en) 2016-06-24 2017-12-28 深圳市前海康启源科技有限公司 Domestic robot control system and method
US20180201444A1 (en) * 2017-01-16 2018-07-19 Locus Robotics Corporation Display for improved efficiency in robot assisted order-fulfillment operations

Also Published As

Publication number Publication date
WO2019240389A1 (en) 2019-12-19
KR20190143545A (en) 2019-12-31
US20200254623A1 (en) 2020-08-13
EP3609657A1 (en) 2020-02-19
KR102566528B1 (en) 2023-08-10
EP3609657B1 (en) 2022-01-05
EP3609657A4 (en) 2021-03-03

Similar Documents

Publication Publication Date Title
US11465292B2 (en) Modular movable robot
US11597096B2 (en) Modular mobile robot comprising porter module
US11464348B2 (en) Resolving events in item-identifying carts
US11381780B2 (en) Item-identifying carts
US11820414B1 (en) Item-identifying carts
US10239740B2 (en) Shopping facility assistance system and method having a motorized transport unit that selectively leads or follows a user within a shopping facility
US10311400B2 (en) Intelligent service robot and related systems and methods
US11540627B2 (en) Serving module and robot having the same
US10279477B2 (en) Automated smart book inventory and shelving robot based on RFID technology
US20200327591A1 (en) Personal Shopping Assistant
KR20200133174A (en) Serving robot
US20110102149A1 (en) System and method for operating an rfid system with head tracking
WO2018106719A1 (en) Intelligent service robot and related systems and methods
KR20200115536A (en) Methods and systems to support purchases in physical stores
KR20210119887A (en) System and method for controlling robot and wireless calling device
KR20230137725A (en) serving robot used in dentistry
WO2022064979A1 (en) Wireless tag reading device
KR20210010687A (en) Smart cart
US11620822B1 (en) Resolving events in item-identifying carts
US11636457B1 (en) Efficient weight estimation and stabilization
US11727224B1 (en) Determining RFID-tag locations in a facility
US20210157999A1 (en) Shopping module and robot having the same
US20230386307A1 (en) Simplified self-checkout scanning systems and related methods
JP2021064212A (en) Carrier robot
CN107886375A (en) A kind of market shopping based on Internet of Things intelligently sells purchasing system

Legal Events

Date Code Title Description
FEPP Fee payment procedure

Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

STPP Information on status: patent application and granting procedure in general

Free format text: APPLICATION DISPATCHED FROM PREEXAM, NOT YET DOCKETED

STPP Information on status: patent application and granting procedure in general

Free format text: DOCKETED NEW CASE - READY FOR EXAMINATION

STPP Information on status: patent application and granting procedure in general

Free format text: NON FINAL ACTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER

STPP Information on status: patent application and granting procedure in general

Free format text: FINAL REJECTION MAILED

STPP Information on status: patent application and granting procedure in general

Free format text: NOTICE OF ALLOWANCE MAILED -- APPLICATION RECEIVED IN OFFICE OF PUBLICATIONS

STPP Information on status: patent application and granting procedure in general

Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT VERIFIED

STCF Information on status: patent grant

Free format text: PATENTED CASE